Image quality test

unit-tests/live/image-quality/test-image-quality.py

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+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+# test:device D400*
+
+import pyrealsense2 as rs
+from rspy import test, log
+import os
+import math
+
+# Start depth + color streams and go through the frame to make sure it is showing a depth image
+# Color stream is only used to display the way the camera is facing
+# Verify that the frame does indeed have variance - therefore it is showing a depth image
+
+# In debug mode, an image with the frames found will be displayed and saved
+# Make sure you have the required packages installed
+DEBUG_MODE = False
+
+# Defines how far in cm do pixels have to be, to be considered in a different distance
+# for example, 10 for 10cm, will define the range 100-109 cm as one (as 100)
+DETAIL_LEVEL = 10
+
+dev = test.find_first_device_or_exit()
+
+cfg = rs.config()
+cfg.enable_stream(rs.stream.depth, rs.format.z16, 30)
+if DEBUG_MODE:
+    cfg.enable_stream(rs.stream.color, rs.format.bgr8, 30)
+
+
+def display_image(img):
+    """
+    Display a given image and exits when the x button or esc key are pressed
+    """
+    import cv2
+
+    window_title = "Output Stream"
+    cv2.imshow(window_title, img)
+    while cv2.getWindowProperty(window_title, cv2.WND_PROP_VISIBLE) > 0:
+        k = cv2.waitKey(33)
+        if k == 27:  # Esc key to stop
+            cv2.destroyAllWindows()
+            break
+        elif k == -1:  # normally -1 returned
+            pass
+
+
+def frames_to_image(depth, color, save, display):
+    """
+    This function gets depth and color frames, transforms them to an image (numpy array)
+    and then save and/or display
+
+    If color frame is given, it will also concatenate it with the depth frame before doing the given action
+    """
+    import numpy as np
+    import cv2
+
+    colorizer = rs.colorizer()
+    depth_image = np.asanyarray(colorizer.colorize(depth).get_data())
+    img = depth_image
+
+    if color:  # if color frame was successfully captured, merge it and the depth frame
+        from scipy.ndimage import zoom
+        color_image = np.asanyarray(color.get_data())
+        depth_rows, _, _ = depth_image.shape
+        color_rows, _, _ = color_image.shape
+        # resize the image with the higher resolution to look like the smaller one
+        if depth_rows < color_rows:
+            color_image = zoom(color_image, (depth_rows / color_rows, depth_rows / color_rows, 1))
+        elif color_rows < depth_rows:
+            depth_image = zoom(depth_image, (color_rows / depth_rows, color_rows / depth_rows, 1))
+        img = np.concatenate((depth_image, color_image), axis=1)
+
+    if save:
+        file_name = "output_stream.png"
+        log.i("Saved image in", os.getcwd() + "\\" + file_name)
+        cv2.imwrite(file_name, img)
+    if display:
+        display_image(img)
+
+
+def get_frames(config, laser_enabled):
+    pipeline = rs.pipeline()
+    pipeline_profile = pipeline.start(config)
+
+    sensor = pipeline_profile.get_device().first_depth_sensor()
+    sensor.set_option(rs.option.emitter_enabled, 1 if laser_enabled else 0)
+
+    # to get a proper image, we sometimes need to wait a few frames, like when the camera is facing a light source
+    frames = pipeline.wait_for_frames()
+    for i in range(30):
+        frames = pipeline.wait_for_frames()
+    depth = frames.get_depth_frame()
+    color = frames.get_color_frame()
+    pipeline.stop()
+    return depth, color
+
+
+def round_to_units(num):
+    """
+    Input: Distance of a certain point, in meters
+    Output: Distance according to the given detail level, in cm
+    """
+    in_cm = round(num, 2) * 100  # convert to cm
+    return math.floor(in_cm / DETAIL_LEVEL) * DETAIL_LEVEL  # rounds the distance according to the given unit
+
+
+def sort_dict(my_dict):
+    my_keys = list(my_dict.keys())
+    my_keys.sort()
+    sorted_dict = {i: my_dict[i] for i in my_keys}
+    return sorted_dict
+
+
+def get_distances(depth):
+    MAX_METERS = 10  # max distance that can be detected, in meters
+    dists = {}
+    total = 0
+    for y in range(depth.get_height()):
+        for x in range(depth.get_width()):
+            dist = depth.get_distance(x, y)
+            if dist >= MAX_METERS:  # out of bounds, assuming it is a junk value
+                continue
+
+            dist = round_to_units(dist)  # round according to DETAIL_LEVEL
+
+            if dists.get(dist) is not None:
+                dists[dist] += 1
+            else:
+                dists[dist] = 1
+            total += 1
+
+    dists = sort_dict(dists)  # for debug convenience
+    log.d("Distances detected in frame are:", dists)
+    return dists, total
+
+
+def is_depth_meaningful(config, laser_enabled=True, save_image=False, show_image=False):
+    """
+    Checks if the camera is showing a frame with a meaningful depth.
+    DETAIL_LEVEL is setting how close distances need to be, to be considered the same
+
+    returns true if frame shows meaningful depth
+    """
+
+    depth, color = get_frames(config, laser_enabled)
+
+    if not depth:
+        log.f("Error getting depth frame")
+        return False
+    if DEBUG_MODE and not color:
+        log.e("Error getting color frame")
+
+    dists, total = get_distances(depth)
+
+    # save or display image (only possible through manual debugging)
+    if save_image or show_image:
+        frames_to_image(depth, color, save_image, show_image)
+
+    # Goes over the distances found, and checks if any distance is the same on more than 90% of the pixels
+    meaningful_depth = True
+    for key in dists:
+        if dists[key] > total*0.9:
+            meaningful_depth = False
+            break
+    num_blank_pixels = dists[0]
+    return meaningful_depth, num_blank_pixels
+
+
+################################################################################################
+
+test.start("Testing depth frame - laser ON -", dev.get_info(rs.camera_info.name))
+res, laser_black_pixels = is_depth_meaningful(cfg, laser_enabled=True, save_image=DEBUG_MODE, show_image=DEBUG_MODE)
+test.check(res is True)
+test.finish()
+
+################################################################################################
+
+test.start("Testing depth frame - laser OFF -", dev.get_info(rs.camera_info.name))
+res, no_laser_black_pixels = is_depth_meaningful(cfg, laser_enabled=False, save_image=DEBUG_MODE, show_image=DEBUG_MODE)
+test.check(res is True)
+test.finish()
+
+################################################################################################
+
+test.start("Testing less black pixels with the laser on")
+test.check(no_laser_black_pixels > laser_black_pixels)
+test.finish()
+
+################################################################################################
+
+test.print_results_and_exit()